US9219432B2 - Control systems and methods for angle estimation of permanent magnet motors - Google Patents

Control systems and methods for angle estimation of permanent magnet motors Download PDF

Info

Publication number
US9219432B2
US9219432B2 US13/943,966 US201313943966A US9219432B2 US 9219432 B2 US9219432 B2 US 9219432B2 US 201313943966 A US201313943966 A US 201313943966A US 9219432 B2 US9219432 B2 US 9219432B2
Authority
US
United States
Prior art keywords
signal
angle
current
angle estimation
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US13/943,966
Other versions
US20140028228A1 (en
Inventor
Chih-Kai Huang
Yi-Chi Lin
Pei-Yu Chiang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Semiconductor Components Industries LLC
Original Assignee
System General Corp Taiwan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by System General Corp Taiwan filed Critical System General Corp Taiwan
Priority to US13/943,966 priority Critical patent/US9219432B2/en
Assigned to SYSTEM GENERAL CORPORATION reassignment SYSTEM GENERAL CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CHIANG, PEI-YU, HUANG, CHIH-KAI, LIN, YI-CHI
Publication of US20140028228A1 publication Critical patent/US20140028228A1/en
Application granted granted Critical
Publication of US9219432B2 publication Critical patent/US9219432B2/en
Assigned to FAIRCHILD (TAIWAN) CORPORATION reassignment FAIRCHILD (TAIWAN) CORPORATION CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: SYSTEM GENERAL CORPORATION
Assigned to SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC reassignment SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FAIRCHILD (TAIWAN) CORPORATION (FORMERLY SYSTEM GENERAL CORPORATION)
Assigned to DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AGENT reassignment DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AGENT PATENT SECURITY AGREEMENT Assignors: SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC
Assigned to FAIRCHILD SEMICONDUCTOR CORPORATION, SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC reassignment FAIRCHILD SEMICONDUCTOR CORPORATION RELEASE OF SECURITY INTEREST IN PATENTS RECORDED AT RECORDED AT REEL 046410, FRAME 0933 Assignors: DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AGENT
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • H02P6/001—
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0035—
    • H02P21/146—
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H02P6/002—
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Definitions

  • the present invention relates to a method and control system for angle estimation of sensor-less PM (permanent magnet) motors, and more particularly to a method and control system for angle estimation of brushless permanent magnet synchronous motor (PMSM).
  • PMSM brushless permanent magnet synchronous motor
  • a permanent magnet synchronous motor includes a wound stator, a permanent magnet rotor assembly, and a sensing device to sense the rotor position.
  • the sensing device provides signals for electronically switching the stator windings in proper sequence to maintain the rotation of the permanent magnet rotor assembly.
  • the sensing device is a hall-sensor device in general. However, the hall-sensor device increases the cost of the permanent magnet synchronous motor and may cause the reliability problem. Therefore, a sensor-less control becomes a requirement for the PM motor control.
  • a permanent magnet (PM) motor offers advantages of high efficiency, small size, fast dynamic response, low noise, and high reliability, etc.
  • the rotor field of the PM motor must be synchronous to the stator field, and, thus, field oriented control (FOC) represents the method by which one of the flux (such as rotor, stator, or air-gap) is considered as a basis for creating a reference frame for one of other flux with the purpose of decoupling the torque and flux producing components of the stator current.
  • FOC field oriented control
  • the armature current is responsible for the torque generation
  • the excitation current is responsible for the flux generation.
  • the rotor flux is considered as a reference frame for the stator and air-gap flux.
  • a control scheme of FOC is presented in FIG. 1 .
  • the FOC is a sensor-less FOC control system including a permanent magnet synchronous motor (PMSM) 10 , a three-phase bridge driver (3-Phase Bridge) 15 , and a space vector modulation module (SVM) 30 .
  • PMSM permanent magnet synchronous motor
  • 3-Phase Bridge three-phase bridge driver
  • SVM space vector modulation module
  • a Clarke transform module 20 is utilized to move a three-axis two-dimensional coordinate system (referenced to as the stator) onto a two-axis system.
  • ia, ib, and ic are the individual motor phase currents.
  • i ⁇ and i ⁇ are two-axis orthogonal currents.
  • a Park transform module 25 is utilized to transform the two-axis orthogonal currents i ⁇ and i ⁇ and the angle signal ⁇ into another two-axis system that is rotating with the rotor flux.
  • This two-axis rotating coordinate system is called d-q axis.
  • An inverse Park transform module 35 is utilized to transform from the two-axis rotating frame d-q to the two-axis stationary frame ⁇ - ⁇ .
  • V ⁇ Vd ⁇ cos ⁇
  • V ⁇ Vd ⁇ sin ⁇ + Vq ⁇ cos ⁇
  • An inverse Clarke transform module (SVM) (also referred to as a space vector modulation module) 30 is utilized to transform from the two-axis stationary frame to the three-axis stationary frame (3-phase reference frame of the stator).
  • SVM inverse Clarke transform module
  • Vp 1 V ⁇
  • Vp 2 ( ⁇ V ⁇ + ⁇ square root over (3) ⁇ V ⁇ ) ⁇ 2
  • Vp 3 ( ⁇ V ⁇ square root over (3) ⁇ V ⁇ ) ⁇ 2
  • Vp 1 , Vp 2 , Vp 3 are applied to generate pulse-width modulation signals, e.g. the space vector modulation (SVM) techniques.
  • SVM space vector modulation
  • Controllers (PI) 40 and 45 are proportional integral (PI) controllers. Each of the controllers 40 and 45 responds to an error signal in a closed control loop and attempts to adjust the controlled quantity to achieve the desired system response.
  • the controlled parameter can be measurable system quantity such as speed, torque, or flux.
  • the error signal is formed by subtracting the desired setting of the parameter to be controlled from the actual measured value of that parameter. The sign of the error signal indicates the direction of change required by the control input.
  • FIG. 2 and FIG. 3 show a system block and an algorithm of an example of the sliding mode observer 50 .
  • the important part of the algorithm is how to calculate the commutation angle signal ⁇ needed for the FOC.
  • the motor position is estimated based on the measured currents and the calculated voltages.
  • FIG. 4 shows a motor model for the PMSM 10 .
  • the motor model includes an input voltage VS that is applied to the motor composed of a winding resistance R, a winding inductance L and a back-EMF (back-electromotive force) (ES) 12 .
  • ES back-electromotive force
  • I S is the motor phase current
  • I se is the estimated phase current
  • VS is the input voltage
  • ES is the back-EMF
  • Z is the output correction factor voltage
  • the current observer 60 is utilized to compensate the motor model and estimate back-EMF ES by filtering (via a filter 71 , such as a low pass filter (LPF)) the output correction factor voltage Z.
  • the estimated back-EMF ES is further coupled to generate the values (E SF ) of E ⁇ and E ⁇ (vector components of ES) through a filer 72 (such as a low pass filter (LPF)) for the estimated angle signal ⁇ calculation ( 80 ).
  • a filter 71 such as a low pass filter (LPF)
  • LPF low pass filter
  • the present invention provides a simple method and approach that allows implementing the sensor-less FOC control by a low-cost general microcontroller.
  • the angle estimation control system comprises a Clarke transform module, a Park transform module, and an angle estimation module.
  • the Clarke transform module generates orthogonal current signals in accordance with motor phase currents.
  • the Park transform module generates a current signal in response to the orthogonal current signals and an angle signal.
  • the angle estimation module generates the angle signal in response to the current signal.
  • the angle signal is related to a commutation angle of the permanent magnet motor.
  • the current signal is controlled to be approximately equal to zero.
  • the angle signal is further coupled to generate three phase motor voltage signals.
  • the angle estimation control system comprises a Clarke transform module, a Park transform module, an angle estimation module, and a sum unit.
  • the Clarke transform module generates orthogonal current signals in accordance with motor phase currents.
  • the Park transform module generates a current signal in response to the orthogonal current signals and a first angle signal.
  • the angle estimation module generates the first angle signal in response to the I D current signal.
  • the sum unit generates a second angle signal according to the first angle signal and an angle-shift signal.
  • the current signal is controlled to be approximately equal to zero.
  • the second angle signal is further coupled to generate three phase motor voltage signals.
  • the angle estimation control system comprises a Clarke transform module, a Park transform module, an angle estimation module, and a subtraction unit.
  • the Clarke transform module generates orthogonal current signals in accordance with motor phase currents.
  • the Park transform module generates a current signal in response to the orthogonal current signals and a first angle signal.
  • the angle estimation module generates a second angle signal in response to the current signal.
  • the subtraction unit generates the first angle signal according to the second angle signal and an angle-shift signal.
  • the current signal is controlled to be approximately equal to zero.
  • the second angle signal is further coupled to generate three phase motor voltage signals.
  • An exemplary embodiment of a method for angle estimation of a permanent magnet motor comprises the steps of generating orthogonal current signals in accordance with motor phase currents; generating a current signal in response to the orthogonal current signals and an angle signal; and generating the angle signal in response to the current signal.
  • the angle signal is related to a commutation angle of the permanent magnet motor.
  • the current signal is controlled to be approximately equal to zero.
  • the angle signal is further coupled to generate three phase motor voltage signals.
  • FIG. 1 shows a control scheme of field oriented control (FOC);
  • FIG. 2 shows an example of a sliding mode observer
  • FIG. 3 shows an algorithm of an example of a sliding mode observer
  • FIG. 4 shows a motor model for a permanent magnet synchronous motor (PMSM).
  • PMSM permanent magnet synchronous motor
  • FIG. 5 shows an exemplary embodiment of an angle estimation control system of a sensor-less permanent magnet (PM) motor
  • FIG. 6 shows an exemplary embodiment of an angle estimation module
  • FIG. 7 shows a block diagram of an exemplary embodiment of a proportional integral controller
  • FIG. 8A shows another exemplary embodiment of an angle estimation control system of a sensor-less PM motor
  • FIG. 8B shows further another exemplary embodiment of an angle estimation of a sensor-less PM motor
  • FIG. 9 shows waveforms generated by a sine-wave generator.
  • FIG. 5 is an exemplary embodiment of an angle estimation control system of a sensor-less permanent magnet (PM) motor according to the present invention.
  • the angle estimation motor control system includes a permanent magnet synchronous motor (PMSM) 10 , a three-phase bridge driver (3-Phase Bridge) 15 , a space vector modulation module 30 , a Clarke transform module 20 , a Park transform module 25 , an inverse Park transform module 35 , a proportional integral controller (PI) 40 , and an angle estimation module 100 .
  • the Park transform module 25 generates current signals I d and I q .
  • the angle estimation module 100 simply generates a commutation angle signal ⁇ , which is related to the commutation angle of the PM, in accordance with the current signal I d .
  • the angle signal ⁇ is further coupled to the Park transform module 25 and the inverse Park transform module 35 for generating pulse-width modulation signals for 3-phase motor voltage signals.
  • FIG. 6 is an exemplary embodiment of the angle estimation module 100 according to the present invention.
  • the angle estimation module 100 includes a subtractor 110 for receiving the current signal I d and subtracts a predetermined value from the current signal I d .
  • the speed signal ⁇ is derived by controlling the current signal I d to be approximately equal to zero.
  • An integral module 120 is utilized to generate the commutation angle signal ⁇ in accordance with the speed signal ⁇ .
  • FIG. 7 shows a block diagram of an exemplary embodiment of the proportional integral controller.
  • a proportional term 151 of the proportional integral controller is formed by multiplying the input signal (error signal) by a K P gain, causing the proportional integral controller to produce a control response that is a function of the error magnitude.
  • An integral term 152 of the proportional integral controller is utilized to eliminate small steady state errors. The integral term 152 calculates a continuous running total of the error signal. This accumulated steady state error signal is multiplied by a K I gain.
  • FIG. 8A is another exemplary embodiment of an angle estimation control system of a sensor-less PM motor according to the present invention.
  • the angle estimation control system includes a permanent magnet synchronous motor (PMSM) 10 , a three-phase bridge driver (3-Phase Bridge) 15 , a Clarke transform module 20 , a Park transform module 25 , a sine-wave signal generator 90 , and an angle estimation module 100 .
  • the park transform module 25 generates a current signal I d .
  • the angle estimation module 100 generates an angle signal ⁇ in accordance with the current signal I d .
  • the angle signal ⁇ is further feedback to the park transform module 25 .
  • a sum unit 95 generates another angle signal ⁇ A in accordance with the angle signal ⁇ and an angle-shift signal AS.
  • the angle-shift signal AS is used for adapting to various PM motors, and/or for weak-magnet control.
  • the angle signal ⁇ A and a duty signal Duty are coupled to the sine-wave signal generator 90 to generate pulse-width modulation signals for 3-phase (Phase A, Phase B and Phase C) motor voltage signals VA, VB, and VC.
  • the sine-wave generator 90 has two inputs including a magnitude input (Magnitude) and a phase angle input (Phase Angle).
  • the magnitude input is coupled to the duty signal Duty.
  • the phase angle input is coupled to the angle signal ⁇ A.
  • FIG. 9 shows waveforms generated by the sine-wave generator 90 .
  • the amplitude of the 3-phase motor voltage signals VA, VB, and VC is programmed by the duty signal Duty.
  • the angle of the 3-phase motor voltage signals VA, VB, and VC is determined by the angle signal ⁇ A.
  • FIG. 8B is further another exemplary embodiment of an angle estimation control system of a sensor-less PM motor according to the present invention.
  • the angle estimation control system includes a permanent magnet synchronous motor (PMSM) 10 , a three-phase bridge driver (3-Phase Bridge) 15 , a Clarke transform module 20 , a Park transform module 25 , a sine-wave signal generator 90 , and an angle estimation module 100 .
  • the Park transform module 25 generates a current signal I d .
  • the angle estimation module 100 generates an angle signal ⁇ in accordance with the current signal I d .
  • the angle signal ⁇ and a duty signal Duty are coupled to the sine-wave generator 90 to generate pulse-width modulation signals for 3-phase (Phase A, Phase B and Phase C) motor voltage signals V A , V B , and V C .
  • a subtraction unit 97 generates another angle signal ⁇ B in accordance with the angle signal ⁇ and an angle-shift signal AS.
  • the angle signal ⁇ B is further feedback to the Park transform module 25 .
  • the present invention provides a simple method and approach that allows implementing the sensor-less FOC control by a low-cost general microcontroller.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

An angle estimation control system of a permanent magnet motor is provided. The angle estimation control system includes a Clarke transform module, a Park transform module, and an angle estimation module. The Clarke transform module generates orthogonal current signals in accordance with motor phase currents. The Park transform module generates a current signal in response to the orthogonal current signals and an angle signal. The angle estimation module generates the angle signal in response to the current signal. The angle signal is related to a commutation angle of the permanent magnet motor. The current signal is controlled to be approximately equal to zero. The angle signal is further coupled to generate three phase motor voltage signals.

Description

CROSS REFERENCE TO RELATED APPLICATIONS
This application claims the benefit of U.S. Provisional Application No. 61/675,431, filed on Jul. 25, 2012, the contents of which are incorporated herein by reference.
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a method and control system for angle estimation of sensor-less PM (permanent magnet) motors, and more particularly to a method and control system for angle estimation of brushless permanent magnet synchronous motor (PMSM).
2. Description of the Related Art
A permanent magnet synchronous motor (PMSM) includes a wound stator, a permanent magnet rotor assembly, and a sensing device to sense the rotor position. The sensing device provides signals for electronically switching the stator windings in proper sequence to maintain the rotation of the permanent magnet rotor assembly. The sensing device is a hall-sensor device in general. However, the hall-sensor device increases the cost of the permanent magnet synchronous motor and may cause the reliability problem. Therefore, a sensor-less control becomes a requirement for the PM motor control.
A permanent magnet (PM) motor offers advantages of high efficiency, small size, fast dynamic response, low noise, and high reliability, etc. The rotor field of the PM motor must be synchronous to the stator field, and, thus, field oriented control (FOC) represents the method by which one of the flux (such as rotor, stator, or air-gap) is considered as a basis for creating a reference frame for one of other flux with the purpose of decoupling the torque and flux producing components of the stator current. This means that the armature current is responsible for the torque generation, and the excitation current is responsible for the flux generation. Normally, the rotor flux is considered as a reference frame for the stator and air-gap flux. A control scheme of FOC is presented in FIG. 1. The FOC is a sensor-less FOC control system including a permanent magnet synchronous motor (PMSM) 10, a three-phase bridge driver (3-Phase Bridge) 15, and a space vector modulation module (SVM) 30. A Clarke transform module 20 is utilized to move a three-axis two-dimensional coordinate system (referenced to as the stator) onto a two-axis system.
It can be expressed as:
ia+ib+ic=0
iβ=ia
iα=(ia+2×ib)÷√{square root over (3)}
where ia, ib, and ic are the individual motor phase currents. iα and iβ are two-axis orthogonal currents.
A Park transform module 25 is utilized to transform the two-axis orthogonal currents iα and iβ and the angle signal θ into another two-axis system that is rotating with the rotor flux. This two-axis rotating coordinate system is called d-q axis. The angle signal θ represents the rotor angle.
Id=iβ×cos θ+iα×sin θ
Iq=−iβ×sin θ+iα×cos θ
An inverse Park transform module 35 is utilized to transform from the two-axis rotating frame d-q to the two-axis stationary frame α-β.
Vβ=Vd×cos θ−Vq×sin θ
Vα=Vd×sin θ+Vq×cos θ
An inverse Clarke transform module (SVM) (also referred to as a space vector modulation module) 30 is utilized to transform from the two-axis stationary frame to the three-axis stationary frame (3-phase reference frame of the stator).
Vp1=Vβ
Vp2=(−Vβ+√{square root over (3)}×Vα)÷2
Vp3=(−Vβ−√{square root over (3)}×Vα)÷2
These 3-phase (Vp1, Vp2, Vp3) are applied to generate pulse-width modulation signals, e.g. the space vector modulation (SVM) techniques.
Controllers (PI) 40 and 45 are proportional integral (PI) controllers. Each of the controllers 40 and 45 responds to an error signal in a closed control loop and attempts to adjust the controlled quantity to achieve the desired system response. The controlled parameter can be measurable system quantity such as speed, torque, or flux. The error signal is formed by subtracting the desired setting of the parameter to be controlled from the actual measured value of that parameter. The sign of the error signal indicates the direction of change required by the control input.
A sliding mode observer (SMO) 50 is used for the angle signal θ and speed estimation. FIG. 2 and FIG. 3 show a system block and an algorithm of an example of the sliding mode observer 50. The important part of the algorithm is how to calculate the commutation angle signal θ needed for the FOC. The motor position is estimated based on the measured currents and the calculated voltages. FIG. 4 shows a motor model for the PMSM 10. The motor model includes an input voltage VS that is applied to the motor composed of a winding resistance R, a winding inductance L and a back-EMF (back-electromotive force) (ES) 12. Thus, a current observer 60 in FIG. 2 and FIG. 3 can be expressed as
ⅆ ( Ise ) ⅆ t = - R L × Ise + 1 L × ( VS - ES - Z )
where IS is the motor phase current, Ise is the estimated phase current, VS is the input voltage, ES is the back-EMF, and Z is the output correction factor voltage.
Considering two motor representations, the same input voltage VS fed into both systems, and the measured motor phase current IS matched with the estimated phase current Ise from the model, we can presume the back-EMF ES from the motor model is the same as the back-EMF ES from the motor. When the error value (Error/IS Error) between the measured motor phase current IS and the estimated phase current Ise is lesser than a threshold Error-min, then the current observer 60 works in the linear range. For an error outside of the linear range, the output of the current observer 60 is (+Kslide)/(−Kslide) depending on the sign of the error value. The current observer 60 is utilized to compensate the motor model and estimate back-EMF ES by filtering (via a filter 71, such as a low pass filter (LPF)) the output correction factor voltage Z. The estimated back-EMF ES is further coupled to generate the values (ESF) of Eα and Eβ (vector components of ES) through a filer 72 (such as a low pass filter (LPF)) for the estimated angle signal θ calculation (80).
Because the SMO (sliding mode observer) 50 requires the motor's parameters and complex calculations for the estimation of the commutation angle signal θ, thus a high-speed and expensive DSP (digital signal process) is required for the control.
BRIEF SUMMARY OF THE INVENTION
The present invention provides a simple method and approach that allows implementing the sensor-less FOC control by a low-cost general microcontroller.
An exemplary embodiment of an angle estimation control system of a permanent magnet motor is provided. The angle estimation control system comprises a Clarke transform module, a Park transform module, and an angle estimation module. The Clarke transform module generates orthogonal current signals in accordance with motor phase currents. The Park transform module generates a current signal in response to the orthogonal current signals and an angle signal. The angle estimation module generates the angle signal in response to the current signal. The angle signal is related to a commutation angle of the permanent magnet motor. The current signal is controlled to be approximately equal to zero. The angle signal is further coupled to generate three phase motor voltage signals.
Another exemplary embodiment of an angle estimation control system for angle estimation of a permanent magnet motor is provided. The angle estimation control system comprises a Clarke transform module, a Park transform module, an angle estimation module, and a sum unit. The Clarke transform module generates orthogonal current signals in accordance with motor phase currents. The Park transform module generates a current signal in response to the orthogonal current signals and a first angle signal. The angle estimation module generates the first angle signal in response to the ID current signal. The sum unit generates a second angle signal according to the first angle signal and an angle-shift signal. The current signal is controlled to be approximately equal to zero. The second angle signal is further coupled to generate three phase motor voltage signals.
Further another exemplary embodiment of an angle estimation control system for angle estimation of a permanent magnet motor is provided. The angle estimation control system comprises a Clarke transform module, a Park transform module, an angle estimation module, and a subtraction unit. The Clarke transform module generates orthogonal current signals in accordance with motor phase currents. The Park transform module generates a current signal in response to the orthogonal current signals and a first angle signal. The angle estimation module generates a second angle signal in response to the current signal. The subtraction unit generates the first angle signal according to the second angle signal and an angle-shift signal. The current signal is controlled to be approximately equal to zero. The second angle signal is further coupled to generate three phase motor voltage signals.
An exemplary embodiment of a method for angle estimation of a permanent magnet motor is provided. The method comprises the steps of generating orthogonal current signals in accordance with motor phase currents; generating a current signal in response to the orthogonal current signals and an angle signal; and generating the angle signal in response to the current signal. The angle signal is related to a commutation angle of the permanent magnet motor. The current signal is controlled to be approximately equal to zero. The angle signal is further coupled to generate three phase motor voltage signals.
A detailed description is given in the following embodiments with reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention can be more fully understood by reading the subsequent detailed description and examples with references made to the accompanying drawings, wherein:
FIG. 1 shows a control scheme of field oriented control (FOC);
FIG. 2 shows an example of a sliding mode observer;
FIG. 3 shows an algorithm of an example of a sliding mode observer;
FIG. 4 shows a motor model for a permanent magnet synchronous motor (PMSM);
FIG. 5 shows an exemplary embodiment of an angle estimation control system of a sensor-less permanent magnet (PM) motor;
FIG. 6 shows an exemplary embodiment of an angle estimation module;
FIG. 7 shows a block diagram of an exemplary embodiment of a proportional integral controller;
FIG. 8A shows another exemplary embodiment of an angle estimation control system of a sensor-less PM motor;
FIG. 8B shows further another exemplary embodiment of an angle estimation of a sensor-less PM motor; and
FIG. 9 shows waveforms generated by a sine-wave generator.
 DETAILED DESCRIPTION OF THE INVENTION
The following description is of the best-contemplated mode of carrying out the invention. This description is made for the purpose of illustrating the general principles of the invention and should not be taken in a limiting sense. The scope of the invention is best determined by reference to the appended claims.
FIG. 5 is an exemplary embodiment of an angle estimation control system of a sensor-less permanent magnet (PM) motor according to the present invention. The angle estimation motor control system includes a permanent magnet synchronous motor (PMSM) 10, a three-phase bridge driver (3-Phase Bridge) 15, a space vector modulation module 30, a Clarke transform module 20, a Park transform module 25, an inverse Park transform module 35, a proportional integral controller (PI) 40, and an angle estimation module 100. The Park transform module 25 generates current signals Id and Iq. The angle estimation module 100 simply generates a commutation angle signal θ, which is related to the commutation angle of the PM, in accordance with the current signal Id. The angle signal θ is further coupled to the Park transform module 25 and the inverse Park transform module 35 for generating pulse-width modulation signals for 3-phase motor voltage signals.
FIG. 6 is an exemplary embodiment of the angle estimation module 100 according to the present invention. The angle estimation module 100 includes a subtractor 110 for receiving the current signal Id and subtracts a predetermined value from the current signal Id. The angle estimation module 100 also includes a proportional integral controller (PI) 150. Since the predetermined value is equal to zero (Δ=Id−0=Id), the proportional integral controller 150 receives the current signal Id for generating a speed signal ω. The speed signal ω is derived by controlling the current signal Id to be approximately equal to zero. An integral module 120 is utilized to generate the commutation angle signal θ in accordance with the speed signal ω.
FIG. 7 shows a block diagram of an exemplary embodiment of the proportional integral controller. A proportional term 151 of the proportional integral controller is formed by multiplying the input signal (error signal) by a KP gain, causing the proportional integral controller to produce a control response that is a function of the error magnitude. An integral term 152 of the proportional integral controller is utilized to eliminate small steady state errors. The integral term 152 calculates a continuous running total of the error signal. This accumulated steady state error signal is multiplied by a KI gain.
FIG. 8A is another exemplary embodiment of an angle estimation control system of a sensor-less PM motor according to the present invention. The angle estimation control system includes a permanent magnet synchronous motor (PMSM) 10, a three-phase bridge driver (3-Phase Bridge) 15, a Clarke transform module 20, a Park transform module 25, a sine-wave signal generator 90, and an angle estimation module 100. The park transform module 25 generates a current signal Id. The angle estimation module 100 generates an angle signal θ in accordance with the current signal Id. The angle signal θ is further feedback to the park transform module 25. A sum unit 95 generates another angle signal θA in accordance with the angle signal θ and an angle-shift signal AS. The angle-shift signal AS is used for adapting to various PM motors, and/or for weak-magnet control.
The angle signal θA and a duty signal Duty are coupled to the sine-wave signal generator 90 to generate pulse-width modulation signals for 3-phase (Phase A, Phase B and Phase C) motor voltage signals VA, VB, and VC. The sine-wave generator 90 has two inputs including a magnitude input (Magnitude) and a phase angle input (Phase Angle). The magnitude input is coupled to the duty signal Duty. The phase angle input is coupled to the angle signal θA. FIG. 9 shows waveforms generated by the sine-wave generator 90. The amplitude of the 3-phase motor voltage signals VA, VB, and VC is programmed by the duty signal Duty. The angle of the 3-phase motor voltage signals VA, VB, and VC is determined by the angle signal θA.
FIG. 8B is further another exemplary embodiment of an angle estimation control system of a sensor-less PM motor according to the present invention. The angle estimation control system includes a permanent magnet synchronous motor (PMSM) 10, a three-phase bridge driver (3-Phase Bridge) 15, a Clarke transform module 20, a Park transform module 25, a sine-wave signal generator 90, and an angle estimation module 100. The Park transform module 25 generates a current signal Id. The angle estimation module 100 generates an angle signal θ in accordance with the current signal Id. The angle signal θ and a duty signal Duty are coupled to the sine-wave generator 90 to generate pulse-width modulation signals for 3-phase (Phase A, Phase B and Phase C) motor voltage signals VA, VB, and VC. A subtraction unit 97 generates another angle signal θB in accordance with the angle signal θ and an angle-shift signal AS. The angle signal θB is further feedback to the Park transform module 25.
According to the description above, the present invention provides a simple method and approach that allows implementing the sensor-less FOC control by a low-cost general microcontroller.
While the invention has been described by way of example and in terms of the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. On the contrary, it is intended to cover various modifications and similar arrangements (as would be apparent to those skilled in the art). Therefore, the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements.

Claims (6)

What is claimed is:
1. An angle estimation control system of permanent magnet motor, comprising:
a Clarke transform module generating orthogonal current signals in accordance with motor phase currents;
a Park transform module generating a current signal in response to the orthogonal current signals and a first angle signal;
an angle estimation module generating the first angle signal in response to the current signal; and
a sum unit generating a second angle signal according to the first angle signal and an angle-shift signal;
wherein the second angle signal is further coupled to generate three phase motor voltage signals.
2. The angle estimation control system as claimed in claim 1, further comprising:
a sine-wave generator generating the three phase motor voltage signals in response to the second angle signal.
3. The angle estimation control system as claimed in claim 1, wherein the angle estimation module comprises:
a proportional integral controller generating a speed signal;
a filer generating the first angle signal in accordance with the speed signal; and
wherein the speed signal is generated according to the current signal.
4. An angle estimation control system of a permanent magnet motor, comprising:
a Clarke transform module generating orthogonal current signals in accordance with motor phase currents;
a Park transform module generating a current signal in response to the orthogonal current signals and a first angle signal;
an angle estimation module generating a second angle signal in response to the current signal; and
a subtraction module generating the first angle signal according to the second angle signal and an angle-shift signal;
wherein the second angle signal is further coupled to generate three phase motor voltage signals.
5. The angle estimation control system as claimed in claim 4, further comprising:
a sine-wave generator generating the three phase motor voltages in response to the second angle signal.
6. The angle estimation control system as claimed in claim 4, wherein the angle estimation module, comprises:
a proportional integral controller generating a speed signal;
an integral module generating the second angle signal in accordance with the speed signal;
wherein the speed signal is generated according to the current signal.
US13/943,966 2012-07-25 2013-07-17 Control systems and methods for angle estimation of permanent magnet motors Active 2034-03-10 US9219432B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/943,966 US9219432B2 (en) 2012-07-25 2013-07-17 Control systems and methods for angle estimation of permanent magnet motors

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261675431P 2012-07-25 2012-07-25
US13/943,966 US9219432B2 (en) 2012-07-25 2013-07-17 Control systems and methods for angle estimation of permanent magnet motors

Publications (2)

Publication Number Publication Date
US20140028228A1 US20140028228A1 (en) 2014-01-30
US9219432B2 true US9219432B2 (en) 2015-12-22

Family

ID=49535219

Family Applications (1)

Application Number Title Priority Date Filing Date
US13/943,966 Active 2034-03-10 US9219432B2 (en) 2012-07-25 2013-07-17 Control systems and methods for angle estimation of permanent magnet motors

Country Status (3)

Country Link
US (1) US9219432B2 (en)
CN (1) CN103391041B (en)
TW (1) TWI559672B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11196371B2 (en) 2020-01-10 2021-12-07 DRiV Automotive Inc. Sensorless position detection for electric motor

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103776471A (en) * 2014-01-28 2014-05-07 华中科技大学 Magnetic encoder based on double synchronous rotation coordinate systems
CN104022706A (en) * 2014-06-23 2014-09-03 崇贸科技股份有限公司 Sensorless field-oriented control system, method and apparatus for permanent magnet motor
CN105305914B (en) * 2014-07-10 2018-07-03 珠海格力节能环保制冷技术研究中心有限公司 Angle evaluation method and device, motor vector control method and system and motor
FR3028690B1 (en) * 2014-11-18 2017-12-01 Renault Sas METHOD FOR CONTROLLING A SYNCHRONOUS ROTOR COIL ELECTRIC MACHINE
CN107635872B (en) * 2015-06-01 2020-12-04 深圳市大疆创新科技有限公司 Brushless Pump Motor System
EP3388310B1 (en) * 2015-12-09 2020-07-15 NSK Ltd. Electric power steering device control method and control device
JP6674332B2 (en) * 2016-06-17 2020-04-01 株式会社東芝 Motor starting device, control device, and control method
US10036654B1 (en) 2017-01-31 2018-07-31 Kitty Hawk Corporation Fault tolerant servo sensor with linear hall sensors and discrete hall sensors
TWI636656B (en) * 2017-09-01 2018-09-21 士林電機廠股份有限公司 Model-free current compensator for servo motor drive control system
CN111030543B (en) * 2019-12-13 2023-03-28 佛山市顺德区和而泰电子科技有限公司 Zero-speed closed-loop starting method of direct-current variable-frequency air conditioner compressor
CN112448632B (en) * 2020-11-12 2022-05-27 湘潭大学 A dual sliding mode observer SPMSM sensorless composite control method
CN113037163A (en) * 2021-03-08 2021-06-25 上海工程技术大学 Novel permanent magnet synchronous motor position observation method with dynamic error compensation
CN112943671B (en) * 2021-04-12 2023-03-17 青岛海信日立空调系统有限公司 Air conditioner
US11573075B1 (en) 2021-09-16 2023-02-07 Beta Air, Llc Systems and methods for estimating angular position
WO2025027614A1 (en) * 2023-08-03 2025-02-06 Nova Ltd. Motor thermal management by field-oriented control currents

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5038092A (en) * 1989-02-16 1991-08-06 Kabushiki Kaisha Toyota Chuo Kenkyusho Current control system for inverter
US5627446A (en) * 1995-07-05 1997-05-06 Ford Motor Company Induction motor control method
US5726549A (en) * 1995-02-10 1998-03-10 Nippondenso Co., Ltd. Sensor-less control apparatus for permanent magnet synchronous motor
US5811949A (en) * 1997-09-25 1998-09-22 Allen Bradley Company, Llc Turn-on delay compensator for motor control
US5920161A (en) * 1997-05-26 1999-07-06 Hitachi, Ltd. Driving system for permanent magnet type synchronous machine suitable for electric vehicle and driving control method using the same
US6081093A (en) * 1996-12-05 2000-06-27 Kabushiki Kaisha Yaskawa Denki Sensorless control method and apparatus of permanent magnet synchronous motor
US6084377A (en) * 1998-07-01 2000-07-04 Samsung Electronics Co., Ltd. Voltage vector overmodulation technique considering counter electromotive force of motor
US6822417B2 (en) * 2002-03-22 2004-11-23 Matsushita Electric Industrial Co., Ltd. Synchronous reluctance motor control device
US7075264B2 (en) * 2004-03-31 2006-07-11 Honeywell International Inc. Instantaneous power floating frame controller
US7218074B2 (en) * 2005-01-27 2007-05-15 Schneider Toshiba Inverter Europe Sas Method and system for limiting the current output by a speed controller operating according to a U/F control law
US7339346B2 (en) * 2002-11-28 2008-03-04 Nsk Ltd. Motor and drive control device therefor
US7659685B2 (en) * 2006-08-03 2010-02-09 Stmicroelectronics S.R.L. Method of estimating the state of a system and relative device for estimating position and speed of the rotor of a brushless motor
US8013556B2 (en) * 2006-07-07 2011-09-06 Toyota Jidosha Kabushiki Kaisha Motor control device and vehicle including the same

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR960000802B1 (en) * 1991-04-22 1996-01-12 미쓰비시 뎅끼 가부시끼가이샤 Parallel operation system of ac output inverters
US6259226B1 (en) * 1998-09-03 2001-07-10 Mitsubishi Denki Kabushiki Kaisha Controller for AC motor
US7066034B2 (en) * 2001-11-12 2006-06-27 International Rectifier Corporation Start-up method and system for permanent magnet synchronous motor drive
CN101286725A (en) * 2008-04-17 2008-10-15 戴政 Deriving method of motor rotative velocity and location of rotor in synchronous electric machine vector control system
JP5127800B2 (en) * 2009-09-18 2013-01-23 株式会社東芝 Motor control device
CN102437813B (en) * 2011-12-26 2014-04-09 中国东方电气集团有限公司 Speed sensor-less method for estimating rotor angle and revolving speed of permanent-magnet synchronous motor
CN102545740A (en) * 2012-01-09 2012-07-04 南京航空航天大学 Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor
CN102594250B (en) * 2012-02-17 2014-04-16 哈尔滨工业大学 control method of maximum torque per ampere vector control system for position sensor-free internal permanent magnet synchronous motor

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5038092A (en) * 1989-02-16 1991-08-06 Kabushiki Kaisha Toyota Chuo Kenkyusho Current control system for inverter
US5726549A (en) * 1995-02-10 1998-03-10 Nippondenso Co., Ltd. Sensor-less control apparatus for permanent magnet synchronous motor
US5627446A (en) * 1995-07-05 1997-05-06 Ford Motor Company Induction motor control method
US6081093A (en) * 1996-12-05 2000-06-27 Kabushiki Kaisha Yaskawa Denki Sensorless control method and apparatus of permanent magnet synchronous motor
US5920161A (en) * 1997-05-26 1999-07-06 Hitachi, Ltd. Driving system for permanent magnet type synchronous machine suitable for electric vehicle and driving control method using the same
US5811949A (en) * 1997-09-25 1998-09-22 Allen Bradley Company, Llc Turn-on delay compensator for motor control
US6084377A (en) * 1998-07-01 2000-07-04 Samsung Electronics Co., Ltd. Voltage vector overmodulation technique considering counter electromotive force of motor
US6822417B2 (en) * 2002-03-22 2004-11-23 Matsushita Electric Industrial Co., Ltd. Synchronous reluctance motor control device
US7339346B2 (en) * 2002-11-28 2008-03-04 Nsk Ltd. Motor and drive control device therefor
US7075264B2 (en) * 2004-03-31 2006-07-11 Honeywell International Inc. Instantaneous power floating frame controller
US7218074B2 (en) * 2005-01-27 2007-05-15 Schneider Toshiba Inverter Europe Sas Method and system for limiting the current output by a speed controller operating according to a U/F control law
US8013556B2 (en) * 2006-07-07 2011-09-06 Toyota Jidosha Kabushiki Kaisha Motor control device and vehicle including the same
US7659685B2 (en) * 2006-08-03 2010-02-09 Stmicroelectronics S.R.L. Method of estimating the state of a system and relative device for estimating position and speed of the rotor of a brushless motor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11196371B2 (en) 2020-01-10 2021-12-07 DRiV Automotive Inc. Sensorless position detection for electric motor

Also Published As

Publication number Publication date
TWI559672B (en) 2016-11-21
CN103391041B (en) 2016-02-17
TW201406044A (en) 2014-02-01
CN103391041A (en) 2013-11-13
US20140028228A1 (en) 2014-01-30

Similar Documents

Publication Publication Date Title
US9219432B2 (en) Control systems and methods for angle estimation of permanent magnet motors
Yoon et al. Sensorless control for induction machines based on square-wave voltage injection
JP5697745B2 (en) Synchronous motor drive system
JP3802894B2 (en) Sensorless position control algorithm for AC machine
JP5156352B2 (en) AC motor control device
TWI525981B (en) System, method and apparatus of sensor-less field oriented control for permanent magnet motor
US9742333B2 (en) Motor control device
JP3661642B2 (en) Motor control device and control method thereof
JP5281339B2 (en) Synchronous motor drive system and control device used therefor
US20150311844A1 (en) Motor controller for position sensorless drives
CN101542891B (en) Sensorless Control of Synchronous Motors
JP4989075B2 (en) Electric motor drive control device and electric motor drive system
US8928265B2 (en) Sensorless field-oriented control (FOC) without current sampling for motors
EP2258043A1 (en) Sensorless control of salient-pole machines
JP3397013B2 (en) Control device for synchronous motor
JP2018085851A (en) Current control method for variable magnetic flux motor, and current control device
KR102288428B1 (en) Control Apparatus for Sensorless Motor of Inverter Type and Method Thereof
JP5798513B2 (en) Method and apparatus for detecting initial magnetic pole position of permanent magnet synchronous motor, and control apparatus for permanent magnet synchronous motor
KR20200046692A (en) Sensorless control method for motor
CN104022706A (en) Sensorless field-oriented control system, method and apparatus for permanent magnet motor
Li et al. Implementation of sensorless control with improved flux integrator for wound field synchronous motor
JP2007082380A (en) Synchronous motor control device
Lee et al. The study on position sensor fault detection and algorithm transition from sensored to sensorless control for IPMSM
Zhou et al. Space Vector Control of PMSM Based on Sliding Mode Observer
JP2024122514A (en) Control device

Legal Events

Date Code Title Description
AS Assignment

Owner name: SYSTEM GENERAL CORPORATION, TAIWAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HUANG, CHIH-KAI;LIN, YI-CHI;CHIANG, PEI-YU;REEL/FRAME:030814/0381

Effective date: 20130624

STCF Information on status: patent grant

Free format text: PATENTED CASE

AS Assignment

Owner name: FAIRCHILD (TAIWAN) CORPORATION, TAIWAN

Free format text: CHANGE OF NAME;ASSIGNOR:SYSTEM GENERAL CORPORATION;REEL/FRAME:038599/0043

Effective date: 20140620

AS Assignment

Owner name: SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC, ARIZONA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:FAIRCHILD (TAIWAN) CORPORATION (FORMERLY SYSTEM GENERAL CORPORATION);REEL/FRAME:042328/0318

Effective date: 20161221

AS Assignment

Owner name: DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AGENT, NEW YORK

Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC;REEL/FRAME:046410/0933

Effective date: 20170210

Owner name: DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AG

Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC;REEL/FRAME:046410/0933

Effective date: 20170210

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 4

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1552); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 8

AS Assignment

Owner name: FAIRCHILD SEMICONDUCTOR CORPORATION, ARIZONA

Free format text: RELEASE OF SECURITY INTEREST IN PATENTS RECORDED AT RECORDED AT REEL 046410, FRAME 0933;ASSIGNOR:DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AGENT;REEL/FRAME:064072/0001

Effective date: 20230622

Owner name: SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC, ARIZONA

Free format text: RELEASE OF SECURITY INTEREST IN PATENTS RECORDED AT RECORDED AT REEL 046410, FRAME 0933;ASSIGNOR:DEUTSCHE BANK AG NEW YORK BRANCH, AS COLLATERAL AGENT;REEL/FRAME:064072/0001

Effective date: 20230622